Indoor hovering objects such as quadrotors need to continuously be controlled to hold their position in space. For real autonomous flight of these copters, the necessary position control including all related information transfers have to be provided in a fully decentralized and autonomous manner. The authors discuss challenges related to flight control based on their Autonomous Localization Framework (ALF), which provides scalable and decentralized localization in GPS-denied areas. Using a sensor network based on the IEEE 802.15.4 communication protocol, continuous position maintenance is feasible but, unfortunately, in no way stable. Therefore, they introduce a sensor array, which reduces the system dynamics and allows a robust position control of the platform.